Compass and Angle are not identical. One reports degrees with the rotation in the conventional compass mode (clockwise increasing), the other reports rotation using the leJOS right hand rule (anti-clockwise increasing). I'm pretty sure that tilt is just another way of reporting the acceleration data. No other leJOS classes report tilt values.

I've never used this device for anything very serious. I've always used the BNO055 which seems to have rather more on board processing than that provided by the Mindsensors device. In particular it provides tilt compensated gyro readings and automatic drift compensation.

As I said above I've never used the Mindseneors device for anything serious, why would I spend any time visualizing the output from it? When I've briefly tested it I just check that you get 1G acceleration reading from each axis (when aligned up/down), with zero from the others, and that the gyro produces reasonable looking results in comparison to another gyro, that's pretty much it. The data sheets from the manufacturers (the actual chip manufacturers not mindsensors) usually contain more than enough information about how the various sensor elements operate.

As I said above the datasheet for the sensor typically provides far more information than simple tests produce. After that you need to look at real world tests that replicate how you will actually use the sensor. For instance the techniques that Aswin describes for tracking the offset of a gyro really do not work well for a robot that is constantly moving (particularly one making lots of small turns or, gradual turns) if you are using the gyro to track the turns it is making. So a test that evaluates a gyro in this sort of context will tell you far more than simple movements. See the following for a way to really evaluate a gyro in the real world...https://lejosnews.wordpress.com/2016/02 ... ile-robot/The beauty of this test is that the it is easy to see the track that the robot actually follows and compare this with that reported by other means. Much easier to interpret than a graph.

Even with a good gyro, drift over time will almost certainly be a problem as is clearly seen in the very long runs when building maps. Again a real world test provides a better illustration of the problems:https://lejosnews.wordpress.com/2017/07/15/slam/The video the accompanies this shows an evaluation of an imu against both odometry and pretty accurate SLAM based localization and demonstrates the issues involved.